Setup and installation

Update your system

bash

sudo apt-get update
sudo apt-get upgrade
# (Raspberry pi)
sudo rasp-config

Install prerequisites

bash

sudo apt-get -y install build-essential cmake cmake-curses-gui git uuid-dev ncurses-dev libcurl4 curl libssl-dev libuvc-dev libusb-1.0-0-dev ninja-build

(Optional) Boost

bash

sudo apt install --no-install-recommends libboost-dev libboost-system-dev libboost-thread-dev libboost-filesystem-dev

(Optional) Video stream in/out functions

bash

sudo apt-get -y install --no-install-recommends libunwind-dev gstreamer1.0-0 gstreamer1.0-plugins-base libgstreamer1.0-0 libgstreamer-plugins-base1.0-dev gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-tools gstreamer1.0-alsa libv4l-dev v4l-utils libjpeg-dev libpng-dev libtiff-dev libavcodec-dev libavformat-dev libxvidcore-dev x264

(Optional) Desktop renderings

OpenCV GTK windows and GStreamer desktop video sinks

bash

sudo apt-get -y install libgtk-3-dev gstreamer1.0-x gstreamer1.0-gtk3

ImGUI with GLFW and desktop OpenGL

For USE_IMGUI=ON, IMGUI_BACKEND=GLFW, and IMGUI_RENDERER=OPENGL,

bash

sudo apt-get -y install libglfw3-dev libgl1-mesa-dev libglew-dev

For SDL2/OpenGL ES dependencies and configuration, see ImGUIviewer.md.

(Optional) Jpeg exif editing

bash

sudo apt-get -y install libimage-exiftool-perl

(Optional) CUDA toolkit

bash

wget https://developer.download.nvidia.com/compute/cuda/13.4.2/local_installers/cuda_13.4.2_linux.run
sudo sh cuda_13.4.2_linux.run

echo 'export PATH=/usr/local/cuda-13.4/bin:$PATH' >> ~/.bashrc
echo 'export LD_LIBRARY_PATH=/usr/local/cuda-13.4/lib64:$LD_LIBRARY_PATH' >> ~/.bashrc
source ~/.bashrc

CMake

Install from apt-get

bash

sudo apt-get install cmake

(Optional) Build from source for the latest

bash

wget https://github.com/Kitware/CMake/releases/download/v3.31.12/cmake-3.31.12.tar.gz
tar xvf cmake-3.31.12.tar.gz
cd cmake-3.31.12

./bootstrap
make -j$(nproc)
sudo make install
bash

Eigen 5

OpenKAI requires Eigen 5.x and builds with C++17. If Eigen 5 is already installed with its CMake package, skip the installation commands.

bash

wget https://gitlab.com/libeigen/eigen/-/archive/5.0.1/eigen-5.0.1.tar.gz
tar xf eigen-5.0.1.tar.gz
cd eigen-5.0.1

cmake -S . -B build \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -DEIGEN_BUILD_BLAS=OFF \
    -DEIGEN_BUILD_LAPACK=OFF \
    -DEIGEN_BUILD_TESTING=OFF \
    -DBUILD_TESTING=OFF

sudo cmake --install build

(Optional) RealSense

bash

sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev

git clone --depth 1 https://github.com/realsenseai/librealsense
# git clone --depth 1 --branch v2.53.1 https://github.com/IntelRealSense/librealsense.git # for T265, L535
cd librealsense
sudo ./scripts/setup_udev_rules.sh
mkdir build
cd build

# for Raspberry pi
cmake -DFORCE_LIBUVC=true -DFORCE_RSUSB_BACKEND=ON -DBUILD_WITH_TM2=true -DBUILD_WITH_CUDA=OFF -DCMAKE_BUILD_TYPE=Release
-DIMPORT_DEPTH_CAM_FW=ON ../

# for Jetson
cmake -DFORCE_LIBUVC=true -DFORCE_RSUSB_BACKEND=ON -DBUILD_WITH_TM2=true -DBUILD_WITH_CUDA=ON -DCMAKE_BUILD_TYPE=Release -DIMPORT_DEPTH_CAM_FW=ON ../

make -j$(nproc)
sudo make install

# USB reset if needed on auto boot
sudo uhubctl -a cycle -l 1 -p 1-4
sudo uhubctl -a cycle -l 2 -p 1-4

(Optional) gphoto2

bash

sudo apt-get install -y build-essential libltdl-dev libusb-1.0-0-dev libexif-dev udev libpopt-dev libudev-dev pkg-config git automake autoconf autopoint gettext libtool wget

git clone --branch libgphoto2-2_5_31-release --depth 1 https://github.com/gphoto/libgphoto2.git
cd libgphoto2
autoreconf --install --symlink
./configure
make -j$(nproc)
sudo make install

git clone --branch gphoto2-2_5_28-release --depth 1 https://github.com/gphoto/gphoto2.git
cd gphoto2
autoreconf --install --symlink
./configure
make -j$(nproc)
sudo make install

sudo ldconfig

udev_version=$(udevadm --version)
if   [ "$udev_version" -ge "201" ]
then
  udev_rules=201
elif [ "$udev_version" -ge "175" ]
then
  udev_rules=175
elif [ "$udev_version" -ge "136" ]
then
  udev_rules=136
else
  udev_rules=0.98
fi
set +H
sudo sh -c "/usr/local/lib/libgphoto2/print-camera-list udev-rules version $udev_rules group plugdev mode 0660 > /etc/udev/rules.d/90-libgphoto2.rules"
set -H
if   [ "$udev_rules" = "201" ]
then
set +H
sudo sh -c "/usr/local/lib/libgphoto2/print-camera-list hwdb > /etc/udev/hwdb.d/20-gphoto.hwdb"
set -H
fi

gphoto2 --version
gphoto2 --abilities
# gphoto2 --capture-image-and-download --filename /tmp/hoge.jpg

(Optional) YOLO

See YOLO26detectONNX.md for ONNX Runtime setup and _YOLO26detectONNX build/config notes.

(Optional) OpenCV

See opencv.md for OpenCV build/config notes.

(Optional) OrbbecSDK_v2

bash

git clone --depth 1 https://github.com/orbbec/OrbbecSDK_v2.git
cd OrbbecSDK_v2
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DOB_BUILD_DOCS=OFF -DOB_BUILD_TOOLS=ON -DOB_INSTALL_EXAMPLES_SOURCE=OFF  ../
make -j$(nproc)
sudo make install

cd OrbbecSDK_v2/scripts/env_setup
sudo chmod +x ./install_udev_rules.sh
sudo ./install_udev_rules.sh
sudo udevadm control --reload-rules
sudo udevadm trigger

(Optional) libmodbus

Build and install libmodbus independently when using Modbus devices. The default installation prefix is /usr/local: headers are installed under /usr/local/include/modbus and libraries under /usr/local/lib.

bash

sudo apt-get install autoconf automake libtool
git clone --depth 1 https://github.com/stephane/libmodbus.git
cd libmodbus
./autogen.sh
./configure
make -j$(nproc)
sudo make install
sudo ldconfig

For _LeddarVu, keep bUse0x41=false (the default) with upstream libmodbus. The optional 0x41 mode requires a custom Leddar response-length patch;

(Optional) MAVLink

bash

git clone --depth 1 https://github.com/mavlink/c_library_v2.git

(Optional) wsServer

bash

git clone --depth 1 https://github.com/Theldus/wsServer
cd wsServer/
make
sudo make install

(Optional) Livox

In direct connection mode configure the host ip IP: 192.168.1.50 Netmask: 255.255.255.0 Gateway: 192.168.1.1

(Optional) ScepterSDK

bash

git clone --depth 1 https://github.com/ScepterSW/ScepterSDK.git
set +H
sudo sh -c "echo '[Path]/ScepterSDK/BaseSDK/Ubuntu/Lib' >> /etc/ld.so.conf"
set -H
sudo ldconfig

In direct connection mode configure the host ip IP: 192.168.1.100 Netmask: 255.255.255.0 Gateway: 192.168.100.1

(Optional) M4RI

bash

sudo apt-get install autoconf automake libtool
git clone --depth 1 https://github.com/malb/m4ri.git
cd m4ri/
autoreconf --install
./configure
make
make check
sudo make install

OpenKAI

bash

sudo apt-get -y install libunwind-dev libgoogle-glog-dev libevent-dev gsl-bin libgsl0-dev
git clone --depth 1 https://github.com/yankailab/OpenKAI.git
cd OpenKAI
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_AS_LIB=ON -DWITH_DEFAULT_MODULES=ON ../
make all -j$(nproc)
sudo make install

Setup and installation ​

Update your system ​

Install prerequisites ​

(Optional) Boost ​

(Optional) Video stream in/out functions ​

(Optional) Desktop renderings ​

OpenCV GTK windows and GStreamer desktop video sinks ​

ImGUI with GLFW and desktop OpenGL ​

(Optional) Jpeg exif editing ​

(Optional) CUDA toolkit ​

CMake ​

Install from apt-get ​

(Optional) Build from source for the latest ​

Eigen 5 ​

(Optional) RealSense ​

(Optional) gphoto2 ​

(Optional) YOLO ​

(Optional) OpenCV ​

(Optional) OrbbecSDK_v2 ​

(Optional) libmodbus ​

(Optional) MAVLink ​

(Optional) wsServer ​

(Optional) Livox ​

(Optional) ScepterSDK ​

(Optional) M4RI ​

OpenKAI ​

Setup and installation

Update your system

Install prerequisites

(Optional) Boost

(Optional) Video stream in/out functions

(Optional) Desktop renderings

OpenCV GTK windows and GStreamer desktop video sinks

ImGUI with GLFW and desktop OpenGL

(Optional) Jpeg exif editing

(Optional) CUDA toolkit

CMake

Install from apt-get

(Optional) Build from source for the latest

Eigen 5

(Optional) RealSense

(Optional) gphoto2

(Optional) YOLO

(Optional) OpenCV

(Optional) OrbbecSDK_v2

(Optional) libmodbus

(Optional) MAVLink

(Optional) wsServer

(Optional) Livox

(Optional) ScepterSDK

(Optional) M4RI

OpenKAI